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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
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<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_CPPF_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_CPPF_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/boost.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  PCL_EXPORTS <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  computeCPPFPairFeature (<span class="keyword">const</span> Eigen::Vector4f &amp;p1, <span class="keyword">const</span> Eigen::Vector4f &amp;n1, <span class="keyword">const</span> Eigen::Vector4i &amp;c1,</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                            <span class="keyword">const</span> Eigen::Vector4f &amp;p2, <span class="keyword">const</span> Eigen::Vector4f &amp;n2, <span class="keyword">const</span> Eigen::Vector4i &amp;c2,</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                            <span class="keywordtype">float</span> &amp;f1, <span class="keywordtype">float</span> &amp;f2, <span class="keywordtype">float</span> &amp;f3, <span class="keywordtype">float</span> &amp;f4, <span class="keywordtype">float</span> &amp;f5, <span class="keywordtype">float</span> &amp;f6, <span class="keywordtype">float</span> &amp;f7, <span class="keywordtype">float</span> &amp;f8, <span class="keywordtype">float</span> &amp;f9, <span class="keywordtype">float</span> &amp;f10);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_c_p_p_f_estimation.html">   88</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_c_p_p_f_estimation.html">CPPFEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;CPPFEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const CPPFEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::indices_</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <a class="code" href="classpcl_1_1_c_p_p_f_estimation.html#ab4e6b48a8a11e1f3bc681e50b61bdbed">CPPFEstimation</a> ();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <a class="code" href="classpcl_1_1_c_p_p_f_estimation.html#a0f640eb2ab18aeafd7a6bd589153006d">computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  };</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;}</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/cppf.hpp&gt;</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_CPPF_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_c_p_p_f_estimation_html"><div class="ttname"><a href="classpcl_1_1_c_p_p_f_estimation.html">pcl::CPPFEstimation</a></div><div class="ttdoc">Class that calculates the &quot;surflet&quot; features for each pair in the given pointcloud....</div><div class="ttdef"><b>Definition:</b> cppf.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1_c_p_p_f_estimation_html_a0f640eb2ab18aeafd7a6bd589153006d"><div class="ttname"><a href="classpcl_1_1_c_p_p_f_estimation.html#a0f640eb2ab18aeafd7a6bd589153006d">pcl::CPPFEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">The method called for actually doing the computations</div><div class="ttdef"><b>Definition:</b> cppf.hpp:61</div></div>
<div class="ttc" id="aclasspcl_1_1_c_p_p_f_estimation_html_ab4e6b48a8a11e1f3bc681e50b61bdbed"><div class="ttname"><a href="classpcl_1_1_c_p_p_f_estimation.html#ab4e6b48a8a11e1f3bc681e50b61bdbed">pcl::CPPFEstimation::CPPFEstimation</a></div><div class="ttdeci">CPPFEstimation()</div><div class="ttdoc">Empty Constructor.</div><div class="ttdef"><b>Definition:</b> cppf.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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